Autonomous Mobile Robot Navigation Using Braille Blocks in Outdoor Environment

摘要

A mobile robot can use the walls or the pillars to localize itself when it navigates in indoor environment. However, in open space or outdoor environment there are few easy detectable and stable objects that the robot can use. In this paper, we propose a method for the detection of braille blocks, which are originally used for visually handicapped people, for autonomous mobile robot navigation. To recognize the Braille block, a CCD camera and a laser fan beam projector are used as sensor to detect uneven surface of the blocks. This paper also present the experimental results of simple navigation using the sensor system.